DATA PROCESSING AND ANALYSIS
APPLIED ASPECTS OF COMPUTER SCIENCE
CONTROL SYSTEMS
E.V. Strashnov, I.N. Mironenko, L.A. Finagin Simulation of Quadcopter Flight Modes in Virtual Environment Systems
E.V. Strashnov, I.N. Mironenko, L.A. Finagin Simulation of Quadcopter Flight Modes in Virtual Environment Systems
Abstract. 

This paper considers the problem for simulation quadcopter motion control in virtual environment systems. The proposed solution of this problem includes the implementation of various flight modes for virtual quadcopter model. The quadcopter simulation of motion control is realized by calculation the corresponding Euler angles and feedback linearization of the equations for quadcopter and its electric drives dynamics. An approach for calculating Euler angles based on the transformation of quadcopter’s local coordinate system is proposed. The developed methods and approaches were implemented and tested in the virtual environment system created at the SRISA RAS, as an example of quadcopter motion control with using the virtual remote controller.

Keywords: 

unmanned aerial vehicle, quadcopter, Euler angles, flight mode, virtual remote controller, virtual environment system.

PP. 85-94.

DOI 10.14357/20718632200109
 
References

1. Adamov A.P. 2017. Analiz ekspluatacii mul'tikopterov s pozicii nadezhnosti i bezopasnosti [Analysis of the operation of multicopter from the position of reliability and safety] Nadezhnost' i kachestvo slozhnyh system [Reliability and quality of complex systems] 3(19):86–93.
2. Phantom. Quick guide. 2013. URL: https://www.icover.ru/manuals/DJI_PHANTOM_RUS.pdf (accessed February 11, 2020).
3. Naza-M-Lite User Manual. URL: http://dl.djicdn.com/downloads/naza-m%20lite/en/NAZAM%20LITE_User_Manual_v2.00_en.pdf (accessed February 11, 2020).
4. What is headless mode on a drone? URL: http://www.dronesglobe.com/guide/headless-mode/ (accessed February 11, 2020).
5. What is headless mode? URL: https://dronomania.ru/faq/chto-takoe-headless.html (accessed February 11, 2020).
6. Mustapa MZ. 2015. Altitude controller design for quadcopter UAV. Jurnal Teknologi 74(1):181-188.
7. Luukkonen T. 2011. Modelling and control of quadcopter. Independent research project in applied mathematics, Espoo: Aalto University.
8. Praveen V., and Pillai A.S. 2016. Modeling and simulation of quadcopter using PID controller. IJCTA 9(15):7151-7158.
9. Zuo Z. 2010. Trajectory tracking control design with command-filtered compensation for a quadrotor. IET Control Theory Appl. 4 (11):2343-2355.
10. Dickmen I.C., Arisoy A., and Temeltas H. 2009. Attitude control of a quadrotor. 4th International Conference on Recent Advances in Space Technologies 722-727.
11. Maillot T., et al. 2013. Lyapunov and minimum-time path planning for drones. Journal of Dynamical and Control Systems 47-80.
12. Sabatino F. 2015. Quadrotor control: modelling, nonlinear control design, and simulation, Master’s Degree Project, Stockholm, Sweden.
13. Gur'yanov A.E. 2014. Modelirovanie upravleniya kvadrokopterom [Quadcopter control simulation] Inzhenernyj vestnik [Engineering Bulletin] 8:522-534.
14. Glazkov T.V., Golubev A.E. 2017. Otslezhivanie programmnogo izmeneniya uglovogo polozhe-niya kvadrokoptera [Angular position tracking control of a quadcopter] Matematika i matematicheskoe modelirovanie [Mathematics & Mathematical modelling] 5:15-28.
15. MatLab: Simulink. URL: https://www.mathworks.com/products/simulink.html (accessed February 11, 2020).
16. Mikhaylyuk M.V., Strashnov E.V. 2019. Simulation of quadcopter motion control in virtual environment systems. Mathematica Montisnigri 44:60-72.
17. Strashnov E.V., Finagin L.A., Mironenko I.N. 2019. Tekhnologiya sozdaniya virtual'nyh modelej kvadrokoptera i pul'ta upravleniya [A technology to develop virtual models of the quadcopter and its remote controller] Trudy NIISI RAN [Proceedings of SRISA RAS] 9(1):49-55.
18. A. Gibiansky, 2012. Quadcopter dynamics and simulation (blog). URL: http://andrew.gibiansky.com/blog/physics/quadcopterdynamics/ (accessed February 11, 2020).
19. Strashnov E.V., Torgashev M.A. 2016. Modelirovanie dinamiki elektroprivodov virtual'nyh rootov v imitacionno-trenazhernyh kompleksah [Simulation of actuator dynamics virtual robots in training complexes] Mekhatronika, avtomatizaciya, upravlenie 17(11):762-768.
20. Krishchenko A.P. 1985. Stabilizaciya programmnyh dvizhenij nelinejnyh sistem [Stabilization of program motions of nonlinear systems] Izvestiya AN SSSR. Tekhnicheskaya kibernetika [Proceedings of the USSR Academy of Sciences. Technical cybernetics] 6:108-112.
 

2024 / 02
2024 / 01
2023 / 04
2023 / 03

© ФИЦ ИУ РАН 2008-2018. Создание сайта "РосИнтернет технологии".